ardupilot/libraries/AP_Math/definitions.h

104 lines
2.9 KiB
C

#pragma once
#include <cmath>
#include <AP_HAL/AP_HAL.h>
#ifdef M_PI
# undef M_PI
#endif
#define M_PI (3.141592653589793f)
#ifdef M_PI_2
# undef M_PI_2
#endif
#define M_PI_2 (M_PI / 2)
#define M_GOLDEN 1.6180339f
#define M_2PI (M_PI * 2)
// MATH_CHECK_INDEXES modifies some objects (e.g. SoloGimbalEKF) to
// include more debug information. It is also used by some functions
// to add extra code for debugging purposes. If you wish to activate
// this, do it here or as part of the top-level Makefile -
// e.g. Tools/Replay/Makefile
#ifndef MATH_CHECK_INDEXES
#define MATH_CHECK_INDEXES 0
#endif
#define DEG_TO_RAD (M_PI / 180.0f)
#define RAD_TO_DEG (180.0f / M_PI)
// Centi-degrees to radians
#define DEGX100 5729.57795f
// GPS Specific double precision conversions
// The precision here does matter when using the wsg* functions for converting
// between LLH and ECEF coordinates.
#ifdef ALLOW_DOUBLE_MATH_FUNCTIONS
static const double DEG_TO_RAD_DOUBLE = asin(1) / 90;
static const double RAD_TO_DEG_DOUBLE = 1 / DEG_TO_RAD_DOUBLE;
#endif
#define RadiansToCentiDegrees(x) (static_cast<float>(x) * RAD_TO_DEG * static_cast<float>(100))
// acceleration due to gravity in m/s/s
#define GRAVITY_MSS 9.80665f
// radius of earth in meters
#define RADIUS_OF_EARTH 6378100
// convert a longitude or latitude point to meters or centimeters.
// Note: this does not include the longitude scaling which is dependent upon location
#define LATLON_TO_M 0.01113195f
#define LATLON_TO_CM 1.113195f
// Semi-major axis of the Earth, in meters.
static const double WGS84_A = 6378137.0;
//Inverse flattening of the Earth
static const double WGS84_IF = 298.257223563;
// The flattening of the Earth
static const double WGS84_F = ((double)1.0 / WGS84_IF);
// Semi-minor axis of the Earth in meters
static const double WGS84_B = (WGS84_A * (1 - WGS84_F));
// Eccentricity of the Earth
#ifdef ALLOW_DOUBLE_MATH_FUNCTIONS
static const double WGS84_E = (sqrt(2 * WGS84_F - WGS84_F * WGS84_F));
#endif
#define C_TO_KELVIN 273.15f
#define M_PER_SEC_TO_KNOTS 1.94384449f
#define KNOTS_TO_M_PER_SEC (1/M_PER_SEC_TO_KNOTS)
#define KM_PER_HOUR_TO_M_PER_SEC 0.27777778f
// Gas Constant is from Aerodynamics for Engineering Students, Third Edition, E.L.Houghton and N.B.Carruthers
#define ISA_GAS_CONSTANT 287.26f
#define ISA_LAPSE_RATE 0.0065f
// Standard Sea Level values
// Ref: https://en.wikipedia.org/wiki/Standard_sea_level
#define SSL_AIR_DENSITY 1.225f // kg/m^3
#define SSL_AIR_PRESSURE 101325.01576f // Pascal
#define SSL_AIR_TEMPERATURE 288.15f // K
#define INCH_OF_H2O_TO_PASCAL 248.84f
/*
use AP_ prefix to prevent conflict with OS headers, such as NuttX
clock.h
*/
#define AP_NSEC_PER_SEC 1000000000ULL
#define AP_NSEC_PER_USEC 1000ULL
#define AP_USEC_PER_SEC 1000000ULL
#define AP_USEC_PER_MSEC 1000ULL
#define AP_MSEC_PER_SEC 1000ULL
#define AP_SEC_PER_WEEK (7ULL * 86400ULL)
#define AP_MSEC_PER_WEEK (AP_SEC_PER_WEEK * AP_MSEC_PER_SEC)